#ifndef MODEL_FORWARD_DYNAMICS_H
#define MODEL_FORWARD_DYNAMICS_H

#include "model/model_impl/basic_data_structure.hpp"
#include "model/model_impl/robot_model.hpp"
namespace ZORAL
{
    class ForwardDynamics
    {
    private:
        RobotModel *rm_;

    public:
        explicit ForwardDynamics(RobotModel *rm)
        {
            rm_ = rm;
        }

        int forwardDynamics(const VectorXd &q, const VectorXd &qd, const VectorXd &torque,
                            const std::vector<Wrench> &f_ext, VectorXd &qdd);
    };
} // namespace ZORAL
#endif